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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: In order to develop the 1R1T remote motion centre(RCM) mechanism used in minimally invasive puncture surgery, a 1R1T remote motion centre mechanism with double parallelogram structure driven by a mobile pair was designed, and its kinematics analysis, prototype design and experiment were carried out. Firstly, based on the Kutzbach-Grübler formula, the degrees of freedom of the mechanism were calculated, and the one rotational and one translational output motion was analysed. According to the structure of the mechanism, position model was established. Inverse and direct position solutions were obtained. Jacobian matrix of the mechanism was derived, based on which the singularity was analysed. The reachable workspace was determined using numerical search method. Then, the transmission angle index and dexterity index were used to evaluate the performance in the target workspace, and the mechanism was optimized according to the scale, and the better scale parameters were obtained. Finally, a prototype was developed, the preliminary experiments were carried out, and the experimental results were analysed. The research results indicate that the 20 different motion postures completed by the prototype show that the mechanism meets the requirements of the degree of freedom require for minimally invasive surgery (MIS); while the average value of the position error is 0.32 mm, the maximum value is 1.54 mm, which are all within 1 mm~2 mm; indicating that its motion accuracy is also relatively reliable, so it has a good application prospect in the field of minimally invasive puncture surgery.
Key words: minimally invasive surgery(MIS); workspace analysis; 1R1T; remote motion centre(RCM) mechanism; singularity of mechanism; transmission angle; dexterity
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